#include "../include/calibrate.hpp"

//请注意：TableBP中的BP数组需要按递增顺序排列
std::map<float,TableBP> ACC_C_TableVelThrAcc{
    {5.f , {{-0.3f, 1.f, 2.f}, {0.0f, 20.f, 40.f}}},
    {60.f, {{-0.5f, 1.f, 2.f}, {0.0f, 20.f, 40.f}}}
};

TableBP ACC_C_TableSlipDec = {
  { 5.0f, 60.f },
  { -0.3f, -0.3f }
};

TableBP ACC_C_TableDecBrakePadel = {
  { -3.f, -1.8f, -0.4f, -0.3f},
  { 45.f, 30.f, 10.f, 6.f}
};

float ACC_C_GainDiffPos = 2.0F;
float ACC_C_GainDiffPosNegative = 3.0F;
float ACC_C_GainDiffVel = 0.5F;
float ACC_C_PIDI = 5.0F;
float ACC_C_PIDIUpLimit = 10.0F;
float ACC_C_StopBrakePressure = 20.0F;

float LCC_C_AngleInitError = 0.0F;
float LCC_C_AngleOutMaxLimit = 720.0F;
float LCC_C_AngleOutMaxRateLimit = 800.0F;
float LCC_C_AngleRollError = 0.0;
float LCC_C_AngleRollGain = 0.0F;
float LCC_C_DisWheelbase = 2.9F;
float LCC_C_FilterOutPut = 0.4F;
float LCC_C_PIDD = 0.2F;
float LCC_C_PIDI = 0.1F;
float LCC_C_PIDP = 500.0F;
float LCC_C_RatioGear = 16.0F;
float LCC_C_TimePredictSecond = 1.5F;
float LCC_C_TimeSystemDelay = 400.0;
bool LCC_C_FlagOutFrontWheelAngle = 0U;